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Delete Circle.cpp

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Vita Aeterna 2023-01-30 11:42:28 +01:00 committed by GitHub
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// Copyright (C) 2004-2008, Robotics Equipment Corporation GmbH
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "rec/robotino/api2/c/Com.h"
#ifdef WIN32
#include <windows.h>
// _getch
#include <conio.h>
#else
// getchar
#include <stdio.h>
// usleep
#include <unistd.h>
#endif
#ifdef WIN32
#include <windows.h>
#include <stdio.h>
#else
#include <signal.h>
#endif
int _run = 1;
#ifdef WIN32
static BOOL WINAPI sigint_handler( DWORD fdwCtrlType )
{
switch( fdwCtrlType )
{
case CTRL_C_EVENT: // Handle the CTRL-C signal.
_run = 0;
return TRUE;
default:
return FALSE;
}
}
#else
void sigint_handler( int signum )
{
_run = 0;
}
#endif
ComId com;
OmniDriveId omniDrive;
BumperId bumper;
void msleep( unsigned int ms )
{
#ifdef WIN32
SleepEx( ms, FALSE );
#else
usleep( ms * 1000 );
#endif
}
void waitForKey()
{
#ifdef WIN32
_getch();
#else
getchar();
#endif
}
//rotate vector in by deg degrees and store the output in out
void rotate( const float* in, float* out, float deg )
{
const float pi = 3.14159265358979f;
float rad = 2 * pi / 360.0f * deg;
out[0] = (float)( cos( rad ) * in[0] - sin( rad ) * in[1] );
out[1] = (float)( sin( rad ) * in[0] + cos( rad ) * in[1] );
}
void drive()
{
const float startVector[2] = {0.2f, 0.0f};
float dir[2];
float a = 0.0f;
unsigned int msecsElapsed = 0;
while( Com_isConnected( com ) && FALSE == Bumper_value( bumper ) && _run )
{
//rotate 360degrees in 10s
rotate( startVector, dir, a );
a = 360.0f * msecsElapsed / 10000;
OmniDrive_setVelocity( omniDrive, dir[0], dir[1], 0 );
msleep( 50 );
msecsElapsed += 50;
}
}
void error( const char* message )
{
printf( "%s\n", message );
printf( "Press any key to exit..." );
waitForKey();
exit( 1 );
}
int main( int argc, char **argv )
{
#ifdef WIN32
SetConsoleCtrlHandler( (PHANDLER_ROUTINE) sigint_handler, TRUE );
#else
struct sigaction act;
memset( &act, 0, sizeof( act ) );
act.sa_handler = sigint_handler;
sigaction( SIGINT, &act, NULL );
#endif
com = Com_construct();
if( argc > 1 )
{
Com_setAddress( com, argv[1] );
}
else
{
Com_setAddress( com, "172.26.1.1" );
//Com_setAddress( com, "192.168.101.101" );
}
if( FALSE == Com_connect( com ) )
{
error( "Error on connect" );
}
else
{
char addressBuffer[256];
Com_address( com, addressBuffer, 256 );
printf( "Connected to %s\n", addressBuffer );
}
omniDrive = OmniDrive_construct();
OmniDrive_setComId( omniDrive, com );
bumper = Bumper_construct();
Bumper_setComId( bumper, com );
drive();
OmniDrive_destroy( omniDrive );
Bumper_destroy( bumper );
Com_destroy( com );
printf( "Press any key to exit...\n" );
waitForKey();
}